\hypertarget{_lift_manager_8h}{\section{C\-:/\-Users/\-Robotics\-Club/\-Desktop/hprobotics/2012-\/2013/3785/\-Lift\-Manager.h File Reference}
\label{_lift_manager_8h}\index{C\-:/\-Users/\-Robotics\-Club/\-Desktop/hprobotics/2012-\/2013/3785/\-Lift\-Manager.\-h@{C\-:/\-Users/\-Robotics\-Club/\-Desktop/hprobotics/2012-\/2013/3785/\-Lift\-Manager.\-h}}
}


Useful functions for controlling the height of the lift.  


{\ttfamily \#include \char`\"{}P\-I\-D\-Controlled\-Motor.\-h\char`\"{}}\\*
{\ttfamily \#include \char`\"{}drivers/hitechnic-\/protoboard.\-h\char`\"{}}\\*
\subsection*{Functions}
\begin{DoxyCompactItemize}
\item 
\hypertarget{_lift_manager_8h_af01748c820173c26a30a3d98b6d74b2e}{task \hyperlink{_lift_manager_8h_af01748c820173c26a30a3d98b6d74b2e}{run\-Controllers} ()}\label{_lift_manager_8h_af01748c820173c26a30a3d98b6d74b2e}

\begin{DoxyCompactList}\small\item\em Allows the run\-P\-I\-D\-Controller method to run concurrently with the main task of the program. \end{DoxyCompactList}\item 
task \hyperlink{_lift_manager_8h_ae394e744af7c641b8b3c9048d2d65ded}{move\-Lift} ()
\begin{DoxyCompactList}\small\item\em Manges the lift instance of the P\-I\-D controller. \end{DoxyCompactList}\item 
void \hyperlink{_lift_manager_8h_abae9ca135819d595513c6337fbd35c9b}{go\-To\-Position} (int position)
\begin{DoxyCompactList}\small\item\em Sets the lift to move to a specific position. \end{DoxyCompactList}\end{DoxyCompactItemize}
\subsection*{Variables}
\begin{DoxyCompactItemize}
\item 
\hypertarget{_lift_manager_8h_a3822d88a990be1e66ac8c8cbb0737eaf}{\hyperlink{struct_p_i_d_controlled_motor}{P\-I\-D\-Controlled\-Motor} \hyperlink{_lift_manager_8h_a3822d88a990be1e66ac8c8cbb0737eaf}{lift}}\label{_lift_manager_8h_a3822d88a990be1e66ac8c8cbb0737eaf}

\begin{DoxyCompactList}\small\item\em Contains a P\-I\-D controller for the lift motors. \end{DoxyCompactList}\end{DoxyCompactItemize}


\subsection{Detailed Description}
Useful functions for controlling the height of the lift. \hyperlink{_lift_manager_8h}{Lift\-Manager.\-h} contains the functions used in regulating the position of the lift, including reading the lift sensors and setting motor speeds. 

Definition in file \hyperlink{_lift_manager_8h_source}{Lift\-Manager.\-h}.



\subsection{Function Documentation}
\hypertarget{_lift_manager_8h_abae9ca135819d595513c6337fbd35c9b}{\index{Lift\-Manager.\-h@{Lift\-Manager.\-h}!go\-To\-Position@{go\-To\-Position}}
\index{go\-To\-Position@{go\-To\-Position}!LiftManager.h@{Lift\-Manager.\-h}}
\subsubsection[{go\-To\-Position}]{\setlength{\rightskip}{0pt plus 5cm}void go\-To\-Position (
\begin{DoxyParamCaption}
\item[{int}]{position}
\end{DoxyParamCaption}
)}}\label{_lift_manager_8h_abae9ca135819d595513c6337fbd35c9b}


Sets the lift to move to a specific position. 


\begin{DoxyParams}{Parameters}
{\em position} & The sensor value the lift should target and hold. \\
\hline
\end{DoxyParams}


Definition at line 72 of file Lift\-Manager.\-h.

\hypertarget{_lift_manager_8h_ae394e744af7c641b8b3c9048d2d65ded}{\index{Lift\-Manager.\-h@{Lift\-Manager.\-h}!move\-Lift@{move\-Lift}}
\index{move\-Lift@{move\-Lift}!LiftManager.h@{Lift\-Manager.\-h}}
\subsubsection[{move\-Lift}]{\setlength{\rightskip}{0pt plus 5cm}task move\-Lift (
\begin{DoxyParamCaption}
{}
\end{DoxyParamCaption}
)}}\label{_lift_manager_8h_ae394e744af7c641b8b3c9048d2d65ded}


Manges the lift instance of the P\-I\-D controller. 

Configures the lift P\-I\-D controller and updates the sensor input and the motor power based upon the results of the P\-I\-D controller. 

Definition at line 24 of file Lift\-Manager.\-h.

